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modify sch1 & sch2

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This commit is contained in:
david
2025-10-31 11:55:00 +08:00
parent bad372d915
commit 4e66e89501
4 changed files with 155 additions and 170 deletions
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38
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -17,7 +17,7 @@
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
'
- name: s2_arm_move_to_snapshot_pose
@@ -74,8 +74,8 @@
move_angle: 0.0
'
- name: s7_waist_turn_around
params: 'move_pitch_degree: 0
- name: s7_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 90.0
@@ -86,7 +86,7 @@
move_yaw_degree: 0
'
- name: s9_arm_put_down_box
- name: s9_arm_release_box
params: 'body_id: 0
data_type: 2
@@ -97,10 +97,10 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-105, -62, -36, 1, -80, -170, -75, 62, 36, -1, 80, -10]
'
- name: s10_arm_release_box
- name: s10_arm_raise_up_after_release
params: 'body_id: 0
data_type: 2
@@ -111,13 +111,13 @@
frame_time_stamp: 0
data_array: [-115, -62.5, -36, 1, -80, -170, -65, 62.5, 36, -1, 80, -10]
data_array: [-115, -62, -36, 1, -80, -170, -65, 62, 36, -1, 80, -10]
'
- name: s11_waist_bend_up
- name: s11_waist_bend_up_and_turn_around
params: 'move_pitch_degree: -25.0
move_yaw_degree: 0
move_yaw_degree: -90.0
'
- name: s12_waist_turn_around
@@ -137,7 +137,7 @@
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
'
- name: s14_arm_move_to_snapshot_pose
@@ -194,8 +194,8 @@
move_angle: 0.0
'
- name: s19_waist_turn_around
params: 'move_pitch_degree: 0
- name: s19_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 90.0
@@ -206,7 +206,7 @@
move_yaw_degree: 0
'
- name: s21_arm_put_down_box
- name: s21_arm_release_box
params: 'body_id: 0
data_type: 2
@@ -217,10 +217,10 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-105, -62, -36, 1, -80, -170, -75, 62, 36, -1, 80, -10]
'
- name: s22_arm_release_box
- name: s22_arm_raise_up_after_release
params: 'body_id: 0
data_type: 2
@@ -231,13 +231,13 @@
frame_time_stamp: 0
data_array: [-115, -62.5, -36, 1, -80, -170, -65, 62.5, 36, -1, 80, -10]
data_array: [-115, -62, -36, 1, -80, -170, -65, 62, 36, -1, 80, -10]
'
- name: s23_waist_bend_up
- name: s23_waist_bend_up_and_turn_around
params: 'move_pitch_degree: -25.0
move_yaw_degree: 0
move_yaw_degree: -90.0
'
- name: s24_waist_turn_around
@@ -257,7 +257,7 @@
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
'
- name: s26_wheel_move_back_to_origin

24
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -10,24 +10,24 @@
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
<MoveWheel_H name="s6_wheel_move_back_to_origin" />
<MoveWaist_H name="s7_waist_turn_around" />
<MoveWaist_H name="s8_waist_bend_down" />
<!-- <Arm_H name="s9_arm_put_down_box" /> -->
<Arm_H name="s10_arm_release_box" />
<MoveWaist_H name="s11_waist_bend_up" />
<MoveWaist_H name="s12_waist_turn_around" />
<MoveWaist_H name="s7_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s8_waist_bend_down" /> -->
<Arm_H name="s9_arm_release_box" />
<Arm_H name="s10_arm_raise_up_after_release" />
<MoveWaist_H name="s11_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s12_waist_turn_around" /> -->
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_second_position" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<!-- <Arm_H name="s21_arm_put_down_box" /> -->
<Arm_H name="s22_arm_release_box" />
<MoveWaist_H name="s23_waist_bend_up" />
<MoveWaist_H name="s24_waist_turn_around" />
<MoveWaist_H name="s19_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s20_waist_bend_down" /> -->
<Arm_H name="s21_arm_release_box" />
<Arm_H name="s22_arm_raise_up_after_release" />
<MoveWaist_H name="s23_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s24_waist_turn_around" /> -->
<Arm_H name="s25_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>

216
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -17,76 +17,28 @@
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
'
- name: s2_arm_move_to_snapshot_pose
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -35, -40, 1, -70, -180, -95, 35, 40, -1, 70, -10]
'
- name: s3_wheel_move_to_pickup_position
params: 'move_distance: 0.5
move_angle: 0.0
'
- name: s4_arm_grasp_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
'
- name: s5_arm_pickup_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
'
- name: s6_wheel_move_back_to_origin
- name: s2_wheel_move_to_origin_pickup_position
params: 'move_distance: 0.0
move_angle: 0.0
'
- name: s7_waist_turn_around
params: 'move_pitch_degree: 0
- name: s3_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 90.0
'
- name: s8_waist_bend_down
- name: s4_waist_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 0
move_yaw_degree: 0.0
'
- name: s9_arm_put_down_box
- name: s5_arm_prepare_to_grasp
params: 'body_id: 0
data_type: 2
@@ -97,10 +49,10 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-85, -65, -25, 1, -80, -150, -95, 65, 25, -1, 80, -30]
'
- name: s10_arm_release_box
- name: s6_arm_grasp_box
params: 'body_id: 0
data_type: 2
@@ -111,56 +63,42 @@
frame_time_stamp: 0
data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10]
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
'
- name: s11_waist_bend_up
- name: s7_arm_pickup_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -70, -25, 1, -80, -150, -75, 70, 25, -1, 80, -30]
'
- name: s8_waist_bend_up_and_turn_around
params: 'move_pitch_degree: -25.0
move_yaw_degree: 0
'
- name: s12_waist_turn_around
params: 'move_pitch_degree: 0
move_yaw_degree: -90.0
'
- name: s13_arm_move_origin_position
params: 'body_id: 0
- name: s9_waist_turn_around
params: 'move_pitch_degree: 0.0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
move_yaw_degree: -90.0
'
- name: s14_arm_move_to_snapshot_pose
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -35, -40, 1, -70, -180, -95, 35, 40, -1, 70, -10]
'
- name: s15_wheel_move_to_pickup_position
- name: s10_wheel_move_to_putdown_position
params: 'move_distance: 0.5
move_angle: 0.0
'
- name: s16_arm_grasp_box
- name: s11_arm_putdown_box
params: 'body_id: 0
data_type: 2
@@ -171,10 +109,10 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-80, -70, -25, 1, -80, -170, -100, 70, 25, -1, 80, -10]
'
- name: s17_arm_pickup_box
- name: s12_arm_release_box_and_raise_up
params: 'body_id: 0
data_type: 2
@@ -185,28 +123,28 @@
frame_time_stamp: 0
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
data_array: [-85, -65, -25, 1, -80, -170, -95, 65, 25, -1, 80, -10]
'
- name: s18_wheel_move_back_to_second_position
- name: s13_wheel_move_to_second_pickup_position
params: 'move_distance: -0.5
move_angle: 0.0
'
- name: s19_waist_turn_around
params: 'move_pitch_degree: 0
- name: s14_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 90.0
'
- name: s20_waist_bend_down
- name: s15_waist_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 0
move_yaw_degree: 0.0
'
- name: s21_arm_put_down_box
- name: s16_arm_prepare_to_grasp
params: 'body_id: 0
data_type: 2
@@ -217,10 +155,10 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-85, -65, -25, 1, -80, -150, -95, 65, 25, -1, 80, -30]
'
- name: s22_arm_release_box
- name: s17_arm_grasp_box
params: 'body_id: 0
data_type: 2
@@ -231,20 +169,74 @@
frame_time_stamp: 0
data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10]
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
'
- name: s23_waist_bend_up
- name: s18_arm_pickup_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -70, -25, 1, -80, -150, -75, 70, 25, -1, 80, -30]
'
- name: s19_waist_bend_up_and_turn_around
params: 'move_pitch_degree: -25.0
move_yaw_degree: 0
move_yaw_degree: -90.0
'
- name: s24_waist_turn_around
params: 'move_pitch_degree: 0
- name: s20_waist_turn_around
params: 'move_pitch_degree: 0.0
move_yaw_degree: -90.0
'
- name: s21_wheel_move_to_putdown_position
params: 'move_distance: 0.5
move_angle: 0.0
'
- name: s22_arm_putdown_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -80, -170, -100, 70, 25, -1, 80, -10]
'
- name: s23_arm_release_box_and_raise_up
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -65, -25, 1, -80, -170, -95, 65, 25, -1, 80, -10]
'
- name: s24_wheel_move_to_origin_pickup_position
params: 'move_distance: 0.0
move_angle: 0.0
'
- name: s25_arm_move_origin_position
params: 'body_id: 0
@@ -257,12 +249,6 @@
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s26_wheel_move_back_to_origin
params: 'move_distance: 0.0
move_angle: 0.0
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
'

47
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -5,31 +5,30 @@
<RetryUntilSuccessful name="retry_all_action" num_attempts="5">
<Sequence>
<Arm_H name="s1_arm_move_origin_position" />
<Arm_H name="s2_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s3_wheel_move_to_pickup_position" />
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
<MoveWheel_H name="s6_wheel_move_back_to_origin" />
<MoveWaist_H name="s7_waist_turn_around" />
<MoveWaist_H name="s8_waist_bend_down" />
<!-- <Arm_H name="s9_arm_put_down_box" /> -->
<Arm_H name="s10_arm_release_box" />
<MoveWaist_H name="s11_waist_bend_up" />
<MoveWaist_H name="s12_waist_turn_around" />
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_second_position" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<!-- <Arm_H name="s21_arm_put_down_box" /> -->
<Arm_H name="s22_arm_release_box" />
<MoveWaist_H name="s23_waist_bend_up" />
<MoveWaist_H name="s24_waist_turn_around" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
<MoveWaist_H name="s3_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s4_waist_bend_down" /> -->
<Arm_H name="s5_arm_prepare_to_grasp" />
<Arm_H name="s6_arm_grasp_box" />
<Arm_H name="s7_arm_pickup_box" />
<MoveWaist_H name="s8_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s9_waist_turn_around" /> -->
<MoveWheel_H name="s10_wheel_move_to_putdown_position" />
<Arm_H name="s11_arm_putdown_box" />
<Arm_H name="s12_arm_release_box_and_raise_up" />
<MoveWheel_H name="s13_wheel_move_to_second_pickup_position" />
<MoveWaist_H name="s14_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s15_waist_bend_down" /> -->
<Arm_H name="s16_arm_prepare_to_grasp" />
<Arm_H name="s17_arm_grasp_box" />
<Arm_H name="s18_arm_pickup_box" />
<MoveWaist_H name="s19_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s20_waist_turn_around" /> -->
<MoveWheel_H name="s21_wheel_move_to_putdown_position" />
<Arm_H name="s22_arm_putdown_box" />
<Arm_H name="s23_arm_release_box_and_raise_up" />
<MoveWheel_H name="s24_wheel_move_to_origin_pickup_position" />
<Arm_H name="s25_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>